/*
 * Copyright 2021 <copyright holder> <email>
 * 
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * 
 *     http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef FEATURE_H
#define FEATURE_H

/**
 * @todo write docs
 */

#include <memory.h>
#include "common_include.h"
#include <opencv2/features2d.hpp>

class Feature
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
    typedef std::shared_ptr<Feature> Ptr;
    
    std::weak_ptr<Frame> frame_;   //该特征点所在的frame
    cv::KeyPoint position_;
    
    cv::Point3d map_point_;
    //std::weak_ptr<MapPoint> map_point_;
    
    bool is_outlier=false;
    bool is_on_left_image_=true;
     
public:
    Feature() {}
    
    Feature(std::shared_ptr<Frame> frame, const cv::KeyPoint &kp):frame_(frame), position_(kp) {}
    
};

#endif // FEATURE_H
